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<div class="textblock"><code>#include &lt;ros/ros.h&gt;</code><br />
<code>#include &lt;geometry_msgs/Twist.h&gt;</code><br />
<code>#include &lt;geometry_msgs/PoseStamped.h&gt;</code><br />
<code>#include &lt;visualization_msgs/MarkerArray.h&gt;</code><br />
<code>#include &lt;nav_msgs/Path.h&gt;</code><br />
<code>#include &lt;eigen3/Eigen/Core&gt;</code><br />
<code>#include &lt;eigen3/Eigen/Dense&gt;</code><br />
<code>#include &lt;eigen3/Eigen/SparseCore&gt;</code><br />
<code>#include &lt;vector&gt;</code><br />
<code>#include &lt;iostream&gt;</code><br />
<code>#include &lt;chrono&gt;</code><br />
<code>#include &lt;memory&gt;</code><br />
<code>#include &quot;<a class="el" href="_poly_spline_x_y_z_8h_source.html">traj_gen/PolySplineXYZ.h</a>&quot;</code><br />
<code>#include &quot;qpOASES.hpp&quot;</code><br />
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<p><a href="_poly_traj_gen_8h_source.html">Go to the source code of this file.</a></p>
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<tr class="memitem:ad5edaf0e8427ca63e44408bdbb37d7b0"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_poly_traj_gen_8h.html#ad5edaf0e8427ca63e44408bdbb37d7b0">find_spline_interval</a> (const vector&lt; double &gt; &amp;knots, double eval_t)</td></tr>
<tr class="separator:ad5edaf0e8427ca63e44408bdbb37d7b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2fbc0abee53f736fe5f5d2a5c04ec723"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_poly_traj_gen_8h.html#a2fbc0abee53f736fe5f5d2a5c04ec723">row_append</a> (MatrixXd &amp;mat, MatrixXd mat_sub)</td></tr>
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<h2 class="groupheader">Typedef Documentation</h2>
<a class="anchor" id="a37d0493e73d8ef72a2405596ad6cee0c"></a>
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          <td class="memname">typedef VectorXd <a class="el" href="_poly_traj_gen_8h.html#a37d0493e73d8ef72a2405596ad6cee0c">TimeSeries</a></td>
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<p>Definition at line <a class="el" href="_poly_traj_gen_8h_source.html#l00030">30</a> of file <a class="el" href="_poly_traj_gen_8h_source.html">PolyTrajGen.h</a>.</p>

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<h2 class="groupheader">Function Documentation</h2>
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          <td class="memname">int find_spline_interval </td>
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          <td class="paramkey"></td>
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          <td></td>
          <td>)</td>
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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00855">855</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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          <td class="memname">MatrixXd integral_jerk_squared </td>
          <td>(</td>
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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00812">812</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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          <td class="memname">MatrixXd integral_snap_squared </td>
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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00829">829</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00846">846</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Lower level routine </p>

<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00784">784</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00774">774</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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